CN114834576A

CN114834576A - Self-balancing carrier

Info

Publication number: CN114834576A
Application number: CN202210578783.6A
Authority: CN
Inventors: 周邓金; 张殿旋; 曾辉海
Original assignee: Shenzhen Oula Zhizao Technology Co ltd
Current assignee: Shenzhen Oula Zhizao Technology Co ltd
Priority date: 2022-05-25
Filing date: 2022-05-25
Publication date: 2022-08-02

Abstract

The embodiment of the application relates to the technical field of balance cars treaded by single feet, and particularly discloses a self-balancing carrier, which comprises a foot platform for a rider to tread by the single foot, wherein the foot platform is provided with a basically flat top surface; a first wheel rotatably connected to a first side end of the foot platform and a second wheel rotatably connected to a second side end of the foot platform; a drive assembly configured to drive the first and second wheels; a stance sensor configured to sense a stance of the foot platform and generate a corresponding stance signal; a power source disposed within the foot platform; and a controller electrically connected to the drive assembly, the attitude sensor, and the power source, and configured to control the drive assembly to drive the first wheel and the second wheel based on the attitude signal; when the self-balancing carrier is in a self-balancing state on the horizontal ground, the average height of the top surface from the horizontal ground is smaller than the diameters of the first wheel and the second wheel. Through the mode, the embodiment of the application can improve the trafficability problem of the self-balancing carrier.

Description

Self-balancing carrier

Technical Field

The application relates to the technical field of balance cars treaded by a single foot, in particular to a self-balancing carrier.

Background

The basic principle of the balance car is a self-balancing principle, and the technology can refer to the earlier patent US6302230B1 in the technical field of balance cars, which details how to use the self-balancing principle to realize the scheme of keeping balance when a rider steps on the balance car.

A later Shane Chen filed U.S. patent application No. 16920125 entitled Self-balancing foot platform devices in 2020, No. 7/2, Shane Chen proposed a one-foot-operated personal transportation device, also commonly referred to by consumers as a balancing unicycle or suspension vehicle or suspension shoe, comprising: a foot platform configured to support a rider's foot in use; a wheel member located generally vertically below the foot platform; a motor driving the wheel assembly; a position sensor; and a control circuit that drives the motor based on data from the position sensor; wherein the wheel member is substantially centered laterally relative to the foot platform; and wherein the apparatus is configured for hands-free control. The balance car has a significant disadvantage that the passing ability of the balance car is very poor, the problem of the passing ability is mainly determined by the wheels of the balance car, generally speaking, the smaller the diameter of the wheels is, the more difficult it is to pass through the obstructed ground, for example, the stones/steps on the ground are slightly larger, and the like, the passing ability is poor; the larger the diameter of the wheel, the easier it is to pass through the obstructed ground, i.e. the trafficability is good.

The personal transporter of Shane Chen, whose wheels have a relatively small diameter with respect to their foot platforms, is therefore of poor trafficability, and whose wheels are mounted beneath the foot platforms, is also not likely to have a large diameter, since in this way the larger the diameter of the wheels means that the rider standing on the foot platform has a higher center of gravity, thus increasing the risk of the rider falling over, and the personal transporter has a relatively weak ability to turn, when the rider steps on his foot platform, is supported by the friction of the rider's steps with the foot platforms.

Therefore, there is a need for an improved balance vehicle with single foot treading, which is related to the prior art, to at least solve the defect of poor passing ability.

Disclosure of Invention

In view of the above problems, the present application provides a self-balancing carrier to at least improve the problem of poor passing capability of a single-foot stepping type electric balance car.

According to an aspect of the embodiments of the present application, there is provided a self-balancing carrier comprising a foot platform for a rider to step on with his or her foot, the foot platform having a substantially flat top surface; a first wheel rotatably connected to a first side end of the foot platform and a second wheel rotatably connected to a second side end of the foot platform; a drive assembly configured to drive the first and second wheels; a stance sensor configured to sense a stance of the foot platform and generate a corresponding stance signal; a power source disposed within the foot platform; and a controller electrically connected to the drive assembly, the attitude sensor, and the power source, and configured to control the drive assembly to drive the first and second wheels based on the attitude signal; when the ground self-balancing carrier is in a self-balancing state on the horizontal ground, the average height of the top surface from the horizontal ground is smaller than the diameters of the first wheel and the second wheel.

The self-balancing carrier provided by the embodiment of the application is provided with the first wheel and the second wheel at two side ends of the foot platform, and when the self-balancing carrier is in a self-balancing state on the horizontal ground and the top surface of the self-balancing carrier is parallel to the horizontal ground, the average height of the top surface from the horizontal ground is configured to be smaller than the diameters of the first wheel and the second wheel, so that the defect that the diameter of the driving wheel cannot be too large relative to the size of the foot platform due to the configuration that the driving wheel of the single-foot treaded balance car in the prior art is positioned under the foot platform is creatively improved, namely, the self-balancing carrier provided by the embodiment of the application has larger wheels than the wheels of the single-foot treaded balance car in the prior art, and the passing performance is improved.

In an optional mode, the average height of the top surface from the horizontal ground is H, the diameters of the first wheel and the second wheel are H, and H/H is more than or equal to 0.3 and less than or equal to 0.7, so that the pedaling position of a rider on the self-balancing carrier can be kept at a relatively low level, the gravity center of a human body can be guaranteed to be relatively low, and the stability and the safety of the riding process are improved.

In an alternative form, the wheel plane of the first wheel and the wheel plane of the second wheel are parallel to each other, so that the rider has better stability when driving straight.

In an alternative form, the wheel plane of the first wheel and the wheel plane of the second wheel are inclined to one another so that the rider has better control over the first and second wheels when making a turn.

In an alternative form, the foot platform is laterally centered between the first and second wheels, thereby ensuring that the rider steps on the foot platform with greater stability in the lateral direction.

In an alternative form, the foot platform is longitudinally centered between the first and second wheels, thereby ensuring that the rider steps on the foot platform with greater stability in the longitudinal direction.

In an optional mode, the self-balancing carrier comprises a power assisting assembly, the power assisting assembly is arranged on the foot platform, the power assisting assembly comprises a power assisting base plate, the power assisting base plate is arranged on one side, away from the ground, of the foot platform, and a power assisting groove is formed in the power assisting base plate, so that a rider can conveniently assist power through the power assisting groove, and accordingly turning of the self-balancing carrier is achieved.

In an optional mode, the self-balancing carrier comprises a baffle, the baffle is arranged on the foot platform, and the baffle is located between the first wheel and the second wheel, so that the baffle can play a role in protection, the human body damage caused by friction between the legs of a person and the first wheel and the second wheel in the riding process is prevented, and in addition, the baffle also has a power assisting function.

In an alternative form, the wheel axis of the first wheel coincides with the wheel axis of the second wheel, so that the rider has better stability when riding.

In an alternative mode, the average distance between the edge of the foot platform close to the first wheel and the first wheel is d1, the average distance between the edge of the foot platform close to the second wheel and the second wheel is d2, and d1 is d2, so that the self-balancing vehicle is guaranteed to have good stability and good balancing performance.

In an optional mode, the transverse dimension of the foot platform is d, and d1/d is more than or equal to 0.5 and less than or equal to 0.95, and d2/d is more than or equal to 0.5 and less than or equal to 0.95.

In an optional mode, the wheel axes of the first wheel and the second wheel are located above the foot platform, so that the function of reducing the gravity center of a rider can be achieved, the rider is more stable during riding and is not prone to falling.

In an alternative mode, the foot platform is provided with a containing cavity; the driving assembly comprises a single motor, the single motor is arranged in the accommodating cavity, two ends of an output shaft of the single motor are respectively connected to the first wheel and the second wheel, and the single motor is configured to drive the first wheel and the second wheel to synchronously rotate.

In an alternative mode, the single motor comprises a speed reduction assembly, so that the output torque of the motor can be increased, and the passing performance of the wheels of the self-balancing vehicle is indirectly improved.

In an alternative form, the drive assembly includes two motors, one of which is disposed in the hub of the first wheel and the other of which is disposed in the hub of the second wheel, so that a user can make a turn using the differential speed between the first and second wheels.

In an alternative form, the foot platform has a longitudinal dimension D, the foot platform has a transverse dimension D, and D > D.

In an optional manner, the self-balancing vehicle at least satisfies one of the following conditions:

the longitudinal dimension D of the foot platform satisfies: d is more than or equal to 15cm and less than or equal to 45 cm; the lateral dimension d of the foot platform satisfies: d is more than or equal to 5cm and less than 20 cm.

In an alternative form, the foot platform has an average thickness of 1/5-2/3 of the wheel diameter of the first or second wheel, such that the rider's center of gravity is lowered to prevent a fall.

the diameter of the first wheel is 10cm-50 cm; the diameter of the second wheel is 10cm-50 cm.

In an alternative, the average thickness of the first or second wheel is less than or equal to 1/2, which is the lateral dimension of the foot platform, and thus, the self-balancing vehicle can be easier to turn because the smaller the average thickness of the wheel, the less ground friction needs to be overcome when the self-balancing vehicle turns.

In an optional mode, the self-balancing carrier includes spacing subassembly, spacing subassembly set up in on the foot platform, spacing subassembly includes the gag lever post, the gag lever post is the arc, the one end of gag lever post connect in the foot platform is close to one side of first wheel, the other end of gag lever post connect in the foot platform is close to one side of second wheel, so, can avoid the rider because of careless foot platform that slides down or because of the action greatly from the circumstances that the self-balancing carrier slided away, increase enjoyment and the security of riding.

In an alternative mode, the self-balancing vehicle includes an auxiliary wheel, the auxiliary wheel is rotatably disposed on the foot platform, and a wheel diameter of the auxiliary wheel is smaller than a wheel diameter of the first wheel or the second wheel. The auxiliary wheel can play the effect of auxiliary stay to improve rider's equilibrium, avoid rider to fall down, simultaneously, can make more stable the controlling self-balancing carrier of rider.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is a schematic view illustrating a usage state of a self-balancing carrier according to an embodiment of the present application;

fig. 2 is a schematic overall structure diagram of a self-balancing carrier according to an embodiment of the present application;

fig. 3 is a schematic overall structure diagram of an embodiment of the self-balancing carrier of the present application;

fig. 4 is an exploded view of the self-balancing vehicle according to the embodiment of the present application;

fig. 5 is an angle view of the overall structure of the self-balancing carrier according to the embodiment of the present application;

fig. 6 is a schematic view of another angle of the overall structure of the self-balancing carrier according to the embodiment of the present application;

fig. 7 is another perspective view of the self-balancing carrier according to the embodiment of the present application;

fig. 8 is a schematic view of an overall structure of an embodiment of the self-balancing carrier of the present application;

fig. 9 is a schematic view of an overall structure of another embodiment of the self-balancing carrier of the present application;

fig. 10 is another schematic view of the self-balancing carrier according to another embodiment of the present application;

fig. 11 is an exploded view of the overall structure of another embodiment of the self-balancing vehicle of the present application.

Detailed Description

In order to facilitate an understanding of the present application, the present application is described in more detail below with reference to the accompanying drawings and specific embodiments. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and should be understood in detail with reference to the drawings in the specification.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

In addition, the technical solutions or technical features mentioned in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

In the practical use process of the self-balancing carrier in the embodiment of the present application, as shown in fig. 1, one side of the rider's left foot and right foot is stepped on to achieve a better stable state and use effect, and the structure of the single self-balancing carrier will be specifically described below.

Referring to fig. 2, the present embodiment provides a self-balancing vehicle 100, which may include a foot platform 10, a first wheel 20, a second wheel 30, a driving assembly, an attitude sensor, a power source, and a controller. The foot platform 10 can be pedaled by a single foot of a rider, and particularly, the rider can step on the top surface 103 of the foot platform.

The first wheel 20 is rotatably connected to a first side end of the foot platform 10, the second wheel 30 is rotatably connected to a second side end of the foot platform 10, the driving assembly is configured to drive the first wheel 20 and the second wheel 30, the attitude sensor is configured to sense an attitude of the foot platform 10 and generate a corresponding attitude signal, the power source is disposed within the foot platform 10, the controller is electrically connected to the driving assembly, the attitude sensor and the power source, and the controller is configured to control the driving assembly to drive the first wheel 20 and the second wheel 30 based on the attitude signal.

As shown in fig. 3, the self-balancing carrier 100 may further include a power assisting assembly 40, a baffle 50, a limiting assembly 60, and an auxiliary wheel 70. Helping hand subassembly 40 sets up in foot platform 10, and helping hand subassembly 40 is convenient for the rider's helping hand to turn, and baffle 50 sets up on foot platform 10, and baffle 50 is located between first wheel 20 and the second wheel 30, and spacing subassembly 60 sets up on foot platform 10, and auxiliary wheel 70 rotates and sets up on foot platform 10, and the wheel diameter of auxiliary wheel 70 is less than the wheel diameter of first wheel 20 or second wheel 30. The foot platform 10, first wheel 20, second wheel 30, drive assembly, attitude sensor, power source, controller, power assist assembly 40, stop 50, stop assembly 60, and auxiliary wheel 70 are described in detail below.

For better explanation of the structure of the self-balancing carrier, the structure of the self-balancing carrier will be described with reference to X, Y, Z coordinate axes, where X, Y, Z coordinate axes are perpendicular to each other, a longitudinal direction of the foot platform 10 is an X-axis direction, a transverse direction of the foot platform 10 is a Y-axis direction, and a thickness direction of the foot platform 10 is a Z-axis direction.

With respect to the foot platform 10, as shown in fig. 2 and 4, the foot platform 10 is adapted to be pedaled by a rider and is adapted to be pedaled by a single foot, and can be tilted forward or backward when pedaled by a single foot of the rider. The foot platform 10 is provided with a receiving cavity (not shown) for receiving components such as a driving assembly and a power supply. The foot platform 10 includes a first casing 101 and a second casing 102, the first casing 101 is connected to the second casing 102, the first casing 101 is provided with a first cavity (not shown), the second casing 102 is provided with a second cavity (not shown), and when the first casing 101 is connected to the second casing 102, the first cavity and the second cavity are communicated to form an accommodating cavity of the foot platform 10. In addition, as shown in fig. 5, when the self-balancing vehicle is in a self-balancing state on a horizontal ground, the average height H of the top surface 103 of the foot platform 10 from the horizontal ground is smaller than the diameter H of the first wheel 20 and the second wheel 30, because the diameters of the first wheel 20 and the second wheel 30 are larger, compared with the prior art in which the wheels are arranged under the foot platform, if the diameters of the wheels are set to be large, the gravity center of the rider is higher, and the rider is prone to fall down, and the like, the first wheel 20 and the second wheel 30 in the present application are located on both sides of the foot platform 10, and at this time, the diameters of the first wheel 20 and the second wheel 30 are increased, so that the gravity center of the rider is not significantly affected, and when a stone or a step appears on the ground, the self-balancing vehicle has better trafficability.

It should be noted that a self-balancing vehicle 100 in a self-balancing state on a horizontal ground means at least a state that the self-balancing vehicle can be pedaled by a single foot of a rider and enables the rider to be in stable balance without toppling over, and at this time, the self-balancing vehicle 100 may carry the rider to move or may carry the rider to be still in place.

In other examples, when the self-balancing carrier 100 is in the self-balancing state on the horizontal ground, it may also mean that the self-balancing carrier 100 is placed on the horizontal ground to achieve the self-balancing state when no rider rides the vehicle, and a very common case is that the self-balancing carrier 100 generally has a function of starting self-balancing, that is, when a switch of the self-balancing carrier 100 is turned on, the self-balancing carrier 100 may achieve the balancing state without being toppled over when no rider treads the vehicle.

Further, when the self-balancing vehicle 100 is in the aforementioned self-balancing state on the horizontal ground, the top surface 103 of the foot platform 10 may be in a parallel state with the horizontal ground, or may be in an included angle state (for example, the top surface 103 has an included angle within a range of plus or minus 30 degrees with the horizontal plane), and these two different states may be set by different self-balancing algorithms, for example, according to different factory settings, the foot platform in the self-balancing state may be set to have a certain included angle with the horizontal ground, which is not specifically limited herein.

Further, the average height of the top surface 103 from the horizontal ground surface at this time is smaller than the diameters of the first wheel and the second wheel, which specifically means: as can be seen from the foregoing, in the self-balancing state, the top surface 103 may be parallel to the horizontal plane itself or may form an included angle with the horizontal plane, and therefore, the average height from the substantially flat top surface 103 to the horizontal ground includes at least two meanings:

in the first aspect, in the self-balancing state, when the top surface 103 is parallel to the horizontal plane, the average height of the top surface 103 from the horizontal plane is the distance between the two planes of the top surface 103 and the horizontal plane.

In the second aspect, in the self-balancing state, when the top surface 103 is not parallel to the horizontal ground, the average height of the top surface 103 to the horizontal ground may be an average value of distances from each area/part/point on the top surface 103 to the horizontal ground, which is drawn according to a certain rule, and the simplest case may be, for example, a maximum height of the top surface 103 to the horizontal ground and a minimum height of the top surface 103 to the horizontal ground, and then an average value of the two may be used as the average height of the top surface 103 to the horizontal ground at this time.

It should be noted that, in the factory setting, the top surface 103 of the foot platform 10 is generally set parallel to the horizontal ground when the self-balancing vehicle 100 is in the self-balancing state, because this provides the best riding experience, and the consumer/rider riding on the top surface 103 is equivalent to stepping on the horizontal ground. In some embodiments, as shown in FIG. 6, the foot platform 10 has a longitudinal dimension D, the foot platform 10 has a transverse dimension D, and D > D. Optionally, the longitudinal dimension D of the foot platform 10 satisfies: d is more than or equal to 15cm and less than or equal to 45cm, and the transverse dimension D of the foot platform 10 meets the following requirements: 5cm < d < 20cm, which is ergonomically designed to provide a reasonable and moderate stepping platform for the rider.

In some embodiments, the foot platform 10 has a thickness 1/5-2/3 of the wheel diameter of the first or

second wheel

20, 30, which is positioned so that the rider's center of gravity is in a low position to prevent a fall.

It should be noted that: since the foot platform 10 may be irregularly shaped, the longitudinal dimension, the transverse dimension, and the thickness dimension of the foot platform 10 may be average dimensions, and may be selected by the user as desired.

In some embodiments, as shown in fig. 7, in a self-balancing state, when the top surface 103 is parallel to the horizontal ground, the average height H of the top surface 103 to the horizontal ground, i.e. the distance between the two planes of the top surface 103 and the horizontal ground, is H, the diameters of the first wheel 20 and the second wheel 30 are H, and 0.3 ≦ H/H ≦ 0.7, so that the diameters of the first wheel 20 and the second wheel 30 are larger, and when a stone or a step occurs on the ground, the first wheel 20 and the second wheel 30 have better trafficability.

In some embodiments, to provide for lateral stability of the foot platform 10 when stepped on by the rider, the foot platform 10 is laterally centered between the first and

second wheels

20, 30.

In some embodiments, to ensure that the rider steps on the foot platform 10 with greater stability in the longitudinal direction, the foot platform 10 is centered longitudinally between the first and

second wheels

20, 30.

In some embodiments, the distance between the edge of the foot platform 10 close to the first wheel 20 and the first wheel 20 is d1, the distance between the edge of the foot platform 10 close to the second wheel 30 and the second wheel 30 is d2, and d1 is d2, which can ensure that the self-balancing vehicle has better stability and better balancing performance. Optionally, the lateral dimensions d of the foot platform 10 satisfy the following relationships with d1 and d 2: d1/d is more than or equal to 0.5 and less than or equal to 0.95, and d2/d is more than or equal to 0.5 and less than or equal to 0.95.

It should be noted that: since the foot platform 10 may be of regular or irregular shape, wherein the "edge" of the foot platform 10 near the first wheel 20 refers to the closest point or face of the foot platform 10 near the first wheel 20, the distance d1 refers to the distance between the two points or faces of the foot platform 10 and the first wheel 20 that are closest to each other, and likewise, the "edge" of the foot platform 10 near the second wheel 30 refers to the closest point or face of the foot platform 10 near the second wheel 30, and the distance d2 refers to the distance between the two points or faces of the foot platform 10 and the second wheel 30 that are closest to each other.

With respect to the first wheel 20 and the second wheel 30, as shown in fig. 2, the first wheel 20 is rotatably coupled to a first lateral end of the foot platform 10, and the second wheel 30 is rotatably coupled to a second lateral end of the foot platform 10. The first wheel 20 and the second wheel 30 rotate on the ground to bring the rider to a preset position, and the rotation speed between the first wheel 20 and the second wheel 30 may be the same or different, and is not specifically limited herein, for example: when the rotation speed between the first wheel 20 and the second wheel 30 is the same, the first wheel 20 and the second wheel 30 drive the rider to move forwards or backwards, the straight running is more stable, and when the rotation speed between the first wheel 20 and the second wheel 30 is different, the rider can turn conveniently by using the differential speed between the first wheel 20 and the second wheel 30. Optionally, the wheel diameter of the first wheel 20 is 10cm-50cm, and the wheel diameter of the second wheel 30 is 10cm-50 cm.

In some embodiments, the wheel plane of the first wheel 20 and the wheel plane of the second wheel 30 are parallel to each other. It will be understood that the wheel plane of the first wheel 20 and the wheel plane of the second wheel 30 are not limited to being parallel to each other, but may also be inclined to each other, for example: as shown in fig. 8 and 9, the plane of the first wheel 20 and the plane of the second wheel 30 are arranged to form a positive "eight" or a negative "eight" arrangement, so that the rider can have better maneuverability for the first wheel 20 and the second wheel 30 when performing a turn.

It should be noted that: the wheel plane is the plane perpendicular to the rotation axis of the wheel and passing through the center of the contact area with the ground of the tire or of the elastic covering fitted on the wheel.

In some embodiments, the wheel axis of the first wheel 20 coincides with the wheel axis of the second wheel 30, where the rider has better stability while riding.

In some embodiments, the wheel axes of the first wheel 20 and the second wheel 30 are located above the foot platform 10, which can lower the center of gravity of the rider, so that the rider can ride more stably and is less prone to falling.

In some embodiments, as shown in fig. 10, the average thickness d3 of first wheel 20 or second wheel 30 is less than or equal to 1/2 of the lateral dimension d of foot platform 10, which may make turning the self-balancing vehicle easier because the smaller the average thickness of the wheels, the less ground friction needs to be overcome when turning self-balancing vehicle 100.

As for the above drive assembly, the drive assembly is configured to drive the first and

second wheels

20, 30. In some embodiments, the driving assembly may be a single motor, the single motor is disposed in the accommodating cavity, and two ends of an output shaft of the single motor may be respectively connected to the first wheel 20 and the second wheel 30, so that the single motor can simultaneously drive the first wheel and the second wheel to rotate, and at this time, the rotation of the first wheel and the second wheel is synchronous, such driving manner is very simple and reliable, and does not need to perform a differential control and other costly and complex driving control schemes.

It can be understood that: the driving assembly includes, but is not limited to, a single motor as described above, as long as the driving of the first wheel 20 and the second wheel 30 is performed in a corresponding manner, and a specific driving function can be realized.

In some embodiments, the single motor may further comprise a speed reduction assembly, which may comprise, for example, a planetary reducer, which may be used to increase the output torque of the drive assembly, thereby increasing the ability of the self-balancing vehicle to pass over obstacles.

In some embodiments, the drive assembly may also be comprised of two motors, one motor being disposed within the hub of the first wheel 20 and the other motor being disposed within the hub of the second wheel 30. Compared to the above-mentioned single motor controlling the rotation speed of the first wheel 20 and the second wheel 30 simultaneously, two motors can control the rotation speed of the first wheel 20 and the second wheel 30 respectively, and a user can use the differential speed between the first wheel 20 and the second wheel 30 to turn, for example: when the rotation speed of the first wheel 20 is higher than that of the second wheel 30, the self-balancing vehicle can turn towards the direction deviated from the second wheel 30, and when the rotation speed of the first wheel 20 is lower than that of the second wheel 30, the self-balancing vehicle can turn towards the direction deviated from the first wheel 20.

With respect to the above-described barrier 50, as shown in fig. 3, the barrier 50 is disposed on the foot platform 10, and the barrier 50 is located between the first wheel 20 and the second wheel 30. Alternatively, the number of baffles 50 is two, one baffle 50 being located between the first wheel 20 and said foot platform 10 and the other baffle 50 being located between the second wheel 30 and the foot platform 10. Optionally, the baffles 50 are fixed to both ends of the foot platform 10. The baffle 50 can play a role in protection, and prevent the human body from being damaged due to friction between the legs of a person and the first wheel 20 and the second wheel 30 in the process of riding the self-balancing carrier.

The baffle 50 also has a force-assisting effect, for example: when a rider wants to turn left, the legs of the rider only need to abut against the baffle 50 close to the left side leftwards, so that the right wheel bears less weight pressure from a human body than the left wheel, at the moment, the baffle 50 close to the left side can be equivalent to a fulcrum, the legs of the rider can be equivalent to a lever, and the right wheel is tilted to be in a suspended state basically in the direction, certainly, the suspension is very slight, or the right wheel is still in a ground-attached state when viewed by the eyes, but it can be clear that the pressure borne by the right wheel is obviously smaller than that of the left wheel, once the right wheel is in the suspended state, the part of the self-balancing carrier contacting with the ground is only the left wheel, and the part of the left wheel contacting with the ground in a line, although the human body pressure borne by the left wheel is increased, at the moment, the contact area of the self-balancing carrier with the ground is obviously reduced as a whole, the increased human body pressure is not very large, so that for the whole self-balancing carrier, when a rider wants to turn left, the friction force applied to the self-balancing carrier by the ground is much smaller, and the self-balancing carrier is easy to turn.

For the above-mentioned power assisting assembly 40, as shown in fig. 3, the power assisting assembly 40 is disposed on the foot platform 10, the power assisting assembly 40 includes a power assisting base plate 401, the power assisting base plate 401 is disposed on a side of the foot platform 10 away from the ground, and a power assisting groove 40a is disposed on the power assisting base plate 401. The power assisting groove 40a facilitates assisting the rider, so as to realize turning of the self-balancing carrier 100, and is convenient, and the power assisting principle of the power assisting groove 40a is similar to that of the baffle 50, and is not described herein again.

For the above-mentioned limiting assembly 60, as shown in fig. 3, the limiting assembly 60 is disposed on the foot platform 10, and the limiting assembly 60 is used for limiting the feet of the human body, so as to avoid the situation that the rider slips off the foot platform 10 due to carelessness or slips off from the self-balancing carrier due to large movements, and increase the riding fun and safety. The limiting assembly 60 comprises a limiting rod (not shown) which is arc-shaped, one end of the limiting rod is connected to one side of the foot platform 10 close to the first wheel 20, and the other end of the limiting rod is connected to one side of the foot platform 10 close to the second wheel 30. It can be understood that: the structure of the position limiting assembly 60 is not limited to the above, and other structures are also possible, such as: the limiting component 60 comprises two limiting ropes, one limiting rope is arranged on one side of the foot platform 10 close to the first wheel 20, the other limiting rope is arranged on one side of the foot platform 10 close to the second wheel 30, and the two limiting ropes can be used for partially binding the human foot to achieve the purpose of limiting.

As for the auxiliary wheel 70, as shown in fig. 3 and 11, the auxiliary wheel 70 is rotatably disposed on the foot platform 10, and the wheel diameter of the auxiliary wheel 70 is smaller than that of the first wheel 20 or the second wheel 30. Auxiliary wheel 70 can play the effect of auxiliary stay to improve the equilibrium of the person of riding, avoid the person of riding to fall down, simultaneously, can make the more stable self-balancing carrier of controlling of the person of riding.

For the attitude sensor, the power supply and the controller, the controller is electrically connected with the driving assembly, the attitude sensor and the power supply, wherein the power supply provides electric power for the self-balancing vehicle, the attitude sensor is configured to sense the attitude of the foot platform 10 and generate a corresponding attitude signal, the attitude signal comprises pitch sensing data, and the controller determines the current pitch angle of the foot platform 10 according to the pitch sensing data and drives the first wheel 20 and the second wheel 30 by controlling the driving assembly. Alternatively, the attitude sensor may be a gyroscope. It can be understood that: the attitude sensor is not limited to a gyroscope as long as it suffices to sense the attitude of the rider on the foot platform 10 and generate a corresponding attitude signal.

In the present embodiment, the foot platform 10 is provided for the rider to step on with one foot, the first wheel 20, the second wheel 30, the driving assembly, the attitude sensor, the power source and the controller. Wherein the first wheel 20 is rotatably connected to a first side end of the foot platform 10, the second wheel 30 is rotatably connected to a second side end of the foot platform 10, the driving assembly is configured to drive the first wheel 20 and the second wheel 30, the attitude sensor is configured to sense an attitude of the foot platform 10 and generate a corresponding attitude signal, the power source is disposed in the foot platform 10, the controller is electrically connected to the driving assembly, the attitude sensor and the power source, and the controller is configured to control the driving assembly to drive the first wheel 20 and the second wheel 30 based on the attitude signal. In addition, when the self-balancing carrier is in the self-balancing state on the horizontal ground, the height of the trampling position of the rider on the foot platform 10 from the horizontal ground is smaller than the diameter of the first wheel 20 and the second wheel 30, so the arrangement can not only play a role in reducing the gravity center of the rider, and prevent the rider from falling down, meanwhile, the diameter of the first wheel 20 and the second wheel 30 is compared with the height from the horizontal ground from the trampling position, because the diameter of the first wheel 20 and the second wheel 30 is larger, when ground obstacles such as stones or steps appear on the ground, the first wheel 20 and the second wheel 30 have better trafficability.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.

Claims

1. A ground self-balancing carrier, comprising:

a foot platform for a rider to step on with his or her foot, the foot platform having a substantially flat top surface;

a first wheel rotatably connected to a first side end of the foot platform and a second wheel rotatably connected to a second side end of the foot platform;

a drive assembly configured to drive the first and second wheels;

a stance sensor configured to sense a stance of the foot platform and generate a corresponding stance signal;

a power source disposed within the foot platform; and the number of the first and second groups,

a controller electrically connected to the drive assembly, attitude sensor, and power source, and configured to control the drive assembly to drive the first and second wheels based on the attitude signal;

when the self-balancing carrier is in a self-balancing state on the horizontal ground, the average height of the top surface from the horizontal ground is smaller than the diameters of the first wheel and the second wheel.

2. The self-balancing carrier of claim 1,

therefore, the average height of the top surface from the horizontal ground is H, the diameters of the first wheel and the second wheel are H, and H/H is more than or equal to 0.3 and less than or equal to 0.7.

3. The self-balancing carrier of claim 1,

the wheel plane of the first wheel and the wheel plane of the second wheel are parallel to each other.

4. The self-balancing carrier of claim 1,

the wheel plane of the first wheel and the wheel plane of the second wheel are inclined to each other.

5. The self-balancing carrier of claim 1,

the foot platform is laterally centered between the first wheel and the second wheel.

6. The self-balancing carrier of claim 1,

the foot platform is longitudinally centered between the first wheel and the second wheel.

7. The self-balancing carrier of claim 1,

the foot platform comprises a power-assisted assembly, wherein the power-assisted assembly is arranged on the foot platform and comprises a power-assisted bottom plate, the power-assisted bottom plate is arranged on one side, away from the ground, of the foot platform, and a power-assisted groove is formed in the power-assisted bottom plate.

8. The self-balancing carrier of claim 1,

including the baffle, the baffle set up in the foot platform, the baffle is located first round with between the second wheel.

9. The self-balancing carrier of claim 1,

the wheel axis of the first wheel and the wheel axis of the second wheel coincide.

10. The self-balancing carrier of claim 9,

the average distance between the edge of the foot platform near the first wheel to the first wheel is d1, the average distance between the edge of the foot platform near the second wheel to the second wheel is d2, and d1 is d 2.

11. The self-balancing carrier of claim 10,

the transverse dimension of the foot platform is d, d1/d is more than or equal to 0.5 and less than or equal to 0.95, and d2/d is more than or equal to 0.5 and less than or equal to 0.95.

12. The self-balancing carrier of claim 9,

the wheel axes of the first and second wheels are located at a position above the foot platform.

13. The self-balancing carrier of claim 1,

the foot platform is provided with an accommodating cavity;

the driving assembly comprises a single motor, the single motor is arranged in the accommodating cavity, two ends of an output shaft of the single motor are respectively connected to the first wheel and the second wheel, and the single motor is configured to drive the first wheel and the second wheel to synchronously rotate.

14. The self-balancing carrier of claim 13,

the single motor includes a speed reduction assembly.

15. The self-balancing carrier of claim 1,

the driving assembly comprises two motors, one motor is arranged in the wheel hub of the first wheel, and the other motor is arranged in the wheel hub of the second wheel.

16. The self-balancing carrier of claim 1,

the foot platform has a longitudinal dimension D, a transverse dimension D, and D > D.

17. The self-balancing carrier of claim 16,

at least one of the following conditions is satisfied:

the longitudinal dimension D of the foot platform satisfies: d is more than or equal to 10cm and less than or equal to 45 cm; the lateral dimension d of the foot platform satisfies: d is more than or equal to 5cm and less than 20 cm.

18. The self-balancing carrier of claim 1,

the foot platform has an average thickness of 1/5-2/3 of the wheel diameter of the first or second wheel.

19. The self-balancing carrier of claim 1,

at least one of the following conditions is satisfied:

20. The self-balancing carrier of claim 1,

the first or second wheel has an average thickness less than or equal to 1/2 of the lateral dimension of the foot platform.

21. The self-balancing carrier of claim 1,

including spacing subassembly, spacing subassembly set up in on the foot platform, spacing subassembly includes the gag lever post, the gag lever post is the arc, the one end of gag lever post connect in the foot platform is close to one side of first round, the other end of gag lever post connect in the foot platform is close to one side of second round.

22. The self-balancing carrier of claim 1,

the auxiliary wheel is rotatably arranged on the foot platform, and the diameter of the auxiliary wheel is smaller than that of the first wheel or the second wheel.